Feedback Control Systems

Single Input Single Output (SISO) Systems

Prof. Tarek Abdel-Rahman, Ph.D., P.Eng

5) Stability, Routh Hurwitz, Root Locus,
in the s Domain
For Linear Time Invariant (LTI) Systems
4.2) Steady-State Error
4.3) Stability of Continuous Systems
Stability of Continuous Systems in the s-Plane
 Transfer Function
6
 In general

 Where x is the input of the system and y is the output of

the system.
7 Transfer Function

 When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.

 Otherwise ‘improper’
 Transfer Function
8

 Transfer function helps us to check

 The stability of the system

 Time domain and frequency domain characteristics of the

system

 Response of the system for any given input

9
Stability of Control System

 Roots of denominator polynomial of a transfer

function are called ‘poles’.

 And the roots of numerator polynomials of a transfer

function are called ‘zeros’.
 Stability of Control System
10
 Poles is also defined as “it is the frequency at which
system becomes infinite”.
 Like a magnetic pole or black hole.
11 Relation b/w poles and zeros and frequency
response of the system
 The relationship between poles and zeros and the frequency
response of a system comes alive with this 3D pole-zero plot.

Single pole system

12 Relation b/w poles and zeros and frequency
response of the system
 3D pole-zero plot
 System has 1 ‘zero’ and 2 ‘poles’.
13
Relation b/w poles and zeros and frequency
response of the system
14
Stability of Control System
 There are several meanings of stability, in
general there are two kinds of stability
definitions in control system study.

 Absolute Stability

 Relative Stability
15 Stability of Control System
 Poles of the system are represented by ‘x’ and zeros of the system are represented
by ‘o’.
 System order is always equal to number of poles of the transfer function.
 Following transfer function represents nth order plant.
 Stability of Control System
16

 Poles is also defined as “it is the frequency at which

system becomes infinite”. Hence the name pole
where field is infinite.

 And zero is the frequency at which system becomes

0.
 Example
17

 Consider the Transfer function calculated in previous

slides.
X (s) C
G( s )  
Y ( s ) As  B

the denominato r polynomial is As  B  0

 The only pole of the system is

B
s
A
 Examples
18
 Consider the following transfer functions.
 Determine
 Whether the transfer function is proper or improper
 Poles of the system
 zeros of the system
 Order of the system

s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)

( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
19
Stability of Control Systems

 The poles and zeros of the system are plotted in s-plane to

check the stability of the system.
j

LHP RHP

Recall s    j


s-plane
20
Stability of Control Systems

 If all the poles of the system lie in left half plane the system is
said to be Stable.
 If any of the poles lie in right half plane the system is said to
be unstable.
 If pole(s) lie on imaginary axis jthe system is said to be
marginally stable. LHP RHP

s-plane
 Stability of Control Systems
21
 For example
C
G( s )  , if A  1, B  3 and C  10
As  B

 Then the only pole of the system lie at

pole  3
j

LHP RHP

X 
-3

s-plane
 Examples
22
 Consider the following transfer functions.
 Determine whether the transfer function is proper or improper
 Calculate the Poles and zeros of the system
 Determine the order of the system
 Draw the pole-zero map
 Determine the Stability of the system

s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)

( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
23 Another definition of Stability
 The system is said to be stable if for any bounded
input the output of the system is also bounded
(BIBO).
 Thus the for any bounded input the output either
remain constant or decrease with time.
u(t) overshoot
y(t)
1

Plant 1
t
t
Unit Step Input
Output
24
Another definition of Stability

 If for any bounded input the output is not bounded the

system is said to be unstable.

u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output
 BIBO vs Transfer Function
 For example

Y ( s) 1 Y ( s) 1
G1 ( s )   G2 ( s)  
U (s) s  3 U (s) s  3
Pole-Zero Map Pole-Zero Map
4 4

3
stable 3 unstable
2 2

1 1

Imaginary Axis
Imaginary Axis

0 0

-1 -1

-2 -2

-3 -3

-4 -4
-4 -2 0 2 4 -4 -2 0 2 4
Real Axis Real Axis
 BIBO vs Transfer Function
 For example

Y ( s) 1 Y ( s) 1
G1 ( s )   G2 ( s)  
U (s) s  3 U (s) s  3

1 Y ( s)
1 1 1 Y ( s) 1
 G1 ( s )    1
 G2 ( s )   1
1
U (s) s3 U ( s) s 3
 y (t )  e 3t u (t )  y (t )  e 3t u (t )
 BIBO vs Transfer Function
 For example

3t
y (t )  e u (t ) y (t )  e 3t u (t )
exp(-3t)*u(t) 12
x 10 exp(3t)*u(t)
1 12

10
0.8

8
0.6
6
0.4
4

0.2
2

0 0
0 1 2 3 4 0 2 4 6 8 10
 BIBO vs Transfer Function
 Whenever one or more than one poles are in RHP the solution of dynamic equations
contains increasing exponential terms.
 Such as .
 That makes the response of the system unbounded and hence the overall response of
the system is unstable.
e 3t
Stability of Continuous Systems in the s-Plane
4.4) Routh Hurwitz Stability
4.5) Root Locus
4.5.1) Simple Calculations
The Characteristic Equation
 Root Locus
Determine Poles of Closed Loop System
by
Solving the Characteristic Equation
Compute & Plot the Roots of the Characteristic
Equation for K≥0
Compute & Plot the Roots of the Characteristic
Equation for K≥0
Root Locus Example 1
 Root Locus Problem

Compute K at s=jꙍ ?
Draw Root Locus
4.5) Root Locus
4.5.2) Sketching rules
Root Locus Rules
Root Locus Rules
Root Locus Rules
Root Locus Rules
Root Locus Rules
Root Locus Rules
Root Locus Rules
Is there any relation between
K and B1xB2?
4.5) Root Locus
4.5.3) MATLAB
Constructing Transfer Function (tf)
on Matlab
Sisotool(G)
4.6) Control System Design
Proportional Gain - Only
 Control System Design Problem
 For each of the unity feedback control system of open loop:
G(s) = 1 / [(s - 1 )] , G(s) = 1 / [(s - 1 ) (s +4)] , G(s) = 1 / [(s + 1 ) (s +4)] ,
G(s) = 1 / [s(s + 1 ) (s +4)] ,
 Identify system parameters: poles, zeros, gain, type, minimum phase, etc.
 With a proportional (P) controller of gain K:
 Obtain range of values of K that makes the system stable.
 Determine the error constants and steady state error for each system to a unit step, ramp, and acceleration
input.
 For the stable systems determine range of K that you recommend for good performance.
 Use MATLAB to verify your results
 For the recommended design gain what are the time and frequency performance measures.
 Comment of robustness of your design to practice variations from the idealistic linear time invariant
model given.